In this contribution the construction of the Wess-Zumino term for Dp-branes and NS 5-branes invariant under T-duality is described. The cases of the massless Type IIA/B and the massive Type IIA theories are covered. Mass parameter is introduced by generalized Scherk-Schwarz ansatz of O(10,10) spinor and tensor fields. The results lead to the picture where a given brane is understood as an invariant object rotated into the full doubled space.